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Lego Mindstorms EV3 Essentials by Abid H. Mujtaba

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Sweeping for the path

The next step or iteration in our evolution of Controller involves sweeping for the path. This is motivated by an analysis of the objectives for the Line-follower robot outlined in Chapter 8, The Line-follower Robot. Imagine the robot starting off on a straight-line segment of the path. In the previous iteration, when the program was executed, the robot would move along the segment and come to a stop at its end.

In a realistic path, the end of one segment is connected to the start of the next one, the two making an angle with each other. The robot is tasked with discovering this new segment and then moving along it. To do so, it will have to turn in place searching (sweeping) for the path.

We start with a simplistic and partial ...

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